Telescopic space triple-translation parallel manipulator

Abstract

The invention discloses a telescopic space triple-translation parallel manipulator which comprises a space triple-translation parallel mechanism and a telescopic transmission mechanism. The space triple-translation parallel mechanism comprises a fixing framework, a movable platform and three structurally identical first branched chains, and the three branched chains are symmetrically arranged between the fixing framework and the movable platform; the telescopic transmission mechanism comprises a second driving device, a hooke hinge 3a, a hooke hinge 3b, an upper platform, a lower platform, an end actuator and three structurally identical second branched chains, and the three second branched chains are axially symmetrically arranged between the upper platform and the lower platform; each second branched chain comprises a near frame bar, a far frame bar and three rotation pairs, and the three rotation pairs are used for being sequentially connected with the near frame bar, the far frame bar, the upper platform and the lower platform; and the second driving device provides a rotational degree of freedom for each end actuator via the telescopic transmission mechanism, and the end actuators telescopically move by the aid of the three structurally identical second branched chains. The telescopic space triple-translation parallel manipulator has the advantages of low manufacturing cost, excellent torque transmission performance, good dynamic characteristics, convenience in cleaning and maintenance and long service life.

Description

technical field [0001] The invention relates to a robot, in particular to a space three-translation parallel manipulator. Background technique [0002] Patent document US4976582 discloses a three-translation-rotation parallel manipulator for spatial pick-and-place operations, including three active branch chains, each branch chain including two parts, a near frame bar and a far frame bar. One end of the proximal rod has only one degree of freedom of movement or rotation relative to the fixed frame, and the other end is connected to one end of the far rod through a hinge with only two degrees of freedom; the other end of the far rod has only two degrees of freedom. The hinges of the degrees of freedom are connected with the moving platform, thereby limiting the three degrees of freedom of the moving platform relative to the fixed frame. There are two types of remote frame rods of this type of mechanism, one is a single rod form, and the two ends of the rod are respectively c...

AI Technical Summary

Problems solved by technology

The limitations of the above structure are: the guide rod and the guide sleeve require high manufacturing precision and high cost, and the guide sleeve is easy to wear, the service life is low, and the maintenance and repair costs are high; the overall mass of the components is large, and the dynamic characteristics are poor

The limitations of the above structure are: the spline manufacturing process is complex and costly; the spline assembly is difficult and easy to wear, the service life is low, and maintenance and repair are difficult; when it is used in heavy-duty working conditions, it is necessary to increase the radial cross-sectional area of ​​the component , the overall inertial mass increases and the dynamic characteristics deteriorate, so it is not suitable for high-speed and heavy-duty applications; the connecting part of the sleeve and the telescopic rod is a closed structure, which is inconvenient to disassemble, and the sliding bearing needs to be lubricated and difficult to clean, so it is not suitable for food packaging, etc. Applications where contamination needs to be avoided

The limitations of the above structure are: the manufacturing precision of the guide slider is high and the cost is high; the guide slider is easy to wear, the service life is low, and the maintenance cost is high; when it is applied to the heavy-duty working condition, the radial cross-sectional area of ​​the component needs to be increased, The overall inertial mass increases and the dynamic characteristics deteriorate, so it is not suitable for high-speed and heavy-duty applications

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